US7735396B2 - Wave gear drive having negative deflection meshing tooth profile - Google Patents

Wave gear drive having negative deflection meshing tooth profile Download PDF

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Publication number
US7735396B2
US7735396B2 US11/579,767 US57976704A US7735396B2 US 7735396 B2 US7735396 B2 US 7735396B2 US 57976704 A US57976704 A US 57976704A US 7735396 B2 US7735396 B2 US 7735396B2
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Prior art keywords
gear
flexible external
external gear
tooth
teeth
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US11/579,767
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US20070266819A1 (en
Inventor
Shoichi Ishikawa
Noboru Takizawa
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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Assigned to HARMONIC DRIVE SYSTEMS INC. reassignment HARMONIC DRIVE SYSTEMS INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TAKIZAWA, NOBORU, ISHIKAWA, SHOICHI
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19949—Teeth
    • Y10T74/19963—Spur
    • Y10T74/19972—Spur form

Definitions

  • the present invention relates to a wave gear drive, particularly a wave gear drive having a tooth profile that can prevent ratcheting during high reduction.
  • the amount of radial flexing thereof has to be small. That is, the maximum amount of flexing when the circular profile of the flexible external gear is deformed into an elliptical shape has to be set to be a flexing amount ⁇ mn ( ⁇ 1) that is smaller than the normal flexing amount mn that is standard.
  • a measure is required, for example, in a case of a low reduction ratio of 60 in which the number of teeth of the two gears does not exceed 124.
  • n is a positive integer
  • m is module.
  • the problem for the present invention is to make the tooth depth of the two gears thereof as large as possible in order to prevent ratcheting.
  • the present invention solves the above problems in a wave gear drive having a circular rigid internal gear, a flexible external gear disposed therein, and a wave generator inserted therein, the flexible external gear is equipped with a flexible cylindrical body and an annular diaphragm that extends in a radial direction from a back end of the cylindrical body, a tooth portion formed on a front end opening portion side of the cylindrical body that is flexed into an elliptical shape by a flexing amount generated by the wave generator from a back end portion on the diaphragm side to the front end portion on the opening side thereof that is approximately proportional to distance from the diaphragm,
  • the range of the tooth profile of the rigid internal gear may be the greatest where the tooth addendum thereof touches the maximum point of the movement locus of the tooth addendum of the flexible external gear.
  • the ratcheting torque is raised by making ⁇ as large as possible to increase the tooth depth of both gears. That is, the ⁇ maximum value is a position on the movement locus of the teeth of the flexible external gear to which the tooth addendum of the rigid internal gear comes; making ⁇ any larger causes interference between the addenda of the two gears.
  • ratcheting torque is increased by making the tooth depth as large as possible without causing interference between the two gears.
  • the flexible external gear may be made as a constant-height-teeth conical gear in which the cylindrical surface of the addenda of the flexible external gear forms a conical surface, with the outside diameter of the cone gradually decreasing, going from the back end portion on the diaphragm side to the front end portion on the opening side, in the tooth trace direction, so that the tooth addenda of the flexible external gear are parallel to the tooth bottoms of the teeth of the rigid internal gear on the axial cross-section that includes the major axis after deformation of the flexible external gear.
  • the main cross-section is a cross-section perpendicular to an axis passing through the center of the balls of a wave bearing of the wave generator in the flexible external gear
  • the wave gear drive having a negative deflection tooth profile with a large tooth depth is suitable for use in low reduction ratio cases in which the number of teeth of the two gears is not larger than 124.
  • the present invention makes it possible to maximize the tooth depth of the two gears.
  • movement loci of the meshing of the teeth of the two gears are approximated by rack meshing, and continuous contact between the two gears can be effected by using similar curves obtained by analogous enlargement of a curved portion on the meshing entry side of the position of deepest meshing that is the apex of the rack movement loci as the basic tooth profiles of the two gears.
  • the tooth depth can be made larger, making it possible to realize high ratcheting torque meshing. It is also possible to achieve continuous meshing over the range of the movement loci used to define the tooth profile, rather than the momentary kind of meshing provided by a linear type tooth profile. Therefore, the present invention makes it possible to raise the load capabilities of low reduction ratio wave gear drives that use a small number of teeth.
  • FIG. 1 is a front view of the wave gear drive that is the object of the present invention
  • FIG. 2 is a cross-sectional diagram showing an axial cross-section that includes the opening portion of the flexible external gear thereof in the condition of being flexed into an elliptical shape, with (a) showing the state before deformation, (b) a cross-section that includes the major axis of the ellipse after deformation, and (c) a cross-section that includes the minor axis of the ellipse after deformation.
  • a solid line shows a cup-shaped flexible external gear
  • a broken line shows a silk-hat-shaped flexible external gear.
  • wave gear drive 1 has a circular, rigid internal gear 2 , a flexible external gear 3 disposed therein, and a wave generator 4 inserted therein.
  • the difference between the number of teeth of the rigid internal gear 2 and the flexible external gear 3 is 2n (n is a positive integer).
  • the flexible external gear 3 of the wave gear drive 1 is flexed into an ellipse by a wave generator 4 having an elliptical profile, engaging with the rigid internal gear 2 at the two end portions in the direction of the major axis L 1 of the ellipse.
  • the wave generator 4 is equipped with a rigid cam plate 41 affixed to a rotating shaft that is not shown, and a wave bearing 42 mounted on the outside peripheral surface thereof.
  • the wave bearing 42 is equipped with flexible inner and outer rings 43 , 44 , and a plurality of balls 45 inserted therebetween that can freely roll.
  • the wave generator 4 rotates, the position of meshing of the two gears 2 , 3 moves circumferentially, generating relative rotation between the two gears 2 , 3 that corresponds to the difference in the number of teeth of the two gears.
  • the flexible external gear 3 is equipped with a flexible cylindrical body 31 , a diaphragm 32 expanding radially that is continuous with a back end 31 a thereof, a boss 33 that is continuous with the diaphragm 32 , and external teeth 34 formed on an outer peripheral surface portion of an opening end 31 b side of the cylindrical body 31 .
  • the wave generator 4 having an elliptical profile inserted in the inside peripheral surface portion of the external teeth formation portion of the cylindrical body portion 31 , the amount by which the cylindrical body portion 31 is flexed radially inwards or outwards from the back end 31 a of the diaphragm side thereof towards the opening end opening end 31 b is gradually increased.
  • the outward flexing amount at a cross-section that includes the major axis L 1 of the ellipse gradually increases proportional to the distance from the back end 31 a to the opening end 31 b
  • the inward flexing amount at a cross-section that includes the minor axis L 2 of the ellipse gradually increases in proportion to the distance from the back end 31 a to the opening end 31 b .
  • the flexing amount of the external teeth 34 formed on the outer peripheral surface portion on the opening end 31 b side also gradually increases from the back end portion 34 a to the front end portion 34 b in the tooth trace direction thereof, in proportion to the distance from the cylindrical body back end 31 a.
  • FIG. 3 is a diagram showing the movement locus of the teeth of the flexible external gear 3 with respect to the rigid internal gear 2 , obtained in a case in which the relative movement of the two gears 2 , 3 of the wave gear drive 1 is rack-approximated.
  • the movement locus M is that which is obtained in the main cross-section constituting the basis of the formation of the tooth profiles of the two gears 2 , 3 (cross-section perpendicular to the axis at a prescribed selected location in the direction of the tooth trace of the external teeth 34 of the flexible external gear 3 ).
  • ⁇ is a flexing coefficient that is smaller than “1”
  • m is module.
  • the total amplitude of the movement locus M of the flexible external gear 3 is 2 ⁇ mn.
  • FIG. 4 is an explanatory diagram showing the utilization range of the tooth movement locus M.
  • the movement locus portion AB that is utilized is that which, on the meshing entering side of the deepest meshing position point B, extends from point A, which is an inflection point of the movement locus M, to the deepest position point B at which the angle of inclination (pressure angle) of a tangent of the movement locus M formed with respect to the y axis (radial line of the rigid internal gear) is 90 degrees.
  • Negative deflection meshing is started by teeth of the flexible external gear 3 entering the tooth space of the rigid internal gear 2 and contacting the teeth of the rigid internal gear 2 from point A (inflection point of the movement locus M) on the side before the deepest position B is reached.
  • the movement locus portion AB is utilized to obtain the tooth profiles of the two gears 2 , 3 , as described below.
  • a part AC of the working range of the movement locus portion AB is used.
  • the curve portion AC is multiplied by ⁇ to obtain a first similar curve FG that is employed as the tooth profile of the flexible external gear 3 .
  • the curved portion AC is also multiplied by ( ⁇ +1) to obtain a second similar curve DE that is employed as the tooth profile of the rigid internal gear 2 .
  • ⁇ is made as large as possible.
  • the maximum value thereof is the position to which an addendum of the rigid internal gear 2 comes on the movement locus M. Making it larger gives rise to interference between the addenda of the two gears.
  • FIG. 5 ( a ) shows this case.
  • the extreme value of the maximum value of ⁇ is a case in which the addendum of the rigid internal gear is selected as the location of the maximum amplitude (maximum value) of the movement locus M.
  • FIG. 6 shows the movement of one tooth of the flexible external gear 3 with respect to one tooth of the rigid internal gear 2 , in the main cross-section.
  • This drawing is not a case of rack meshing but of a finite number of teeth that is 102 teeth of the rigid internal gear 2 and 100 teeth of the flexible external gear 3 . It shows that the tooth profile setting of the present invention based on rack approximation is also effective in the case of a finite number of teeth.
  • a tooth profile may be formed as follows to maintain effective meshing in a cross-section perpendicular to the axis other than the main cross-section.
  • the back end portion 34 a on the diaphragm side for the main cross-section and apply relieving towards the front end portion 34 b to enable meshing to be maintained in each cross-section of the tooth trace towards the front end portion 34 b on the opening side.
  • the flexible external gear 3 is formed as a constant-height-teeth conical gear with the minor diameter towards the front end portion 34 b .
  • the shape of the tip cylinder surface 34 c thereof is formed as a conical surface with the major diameter facing towards the back end portion 34 a of the flexible external gear 3 , and in the cross-section perpendicular to the axis that includes the major axis of the wave generator 4 , the generator of the addendum cone of the flexible external gear 3 is set to follow (be parallel to) the tooth bottoms 24 c of the teeth 24 of the rigid internal gear 2 as a spur gear.
  • FIG. 7 ( b ) shows the state of meshing with the rigid internal gear 2 at a cross-section that includes the major axis of the flexible external gear 3 flexed into an elliptical shape by the wave generator 4 .
  • FIG. 8 is an explanatory diagram showing the state of meshing of the back end portion 34 a in the tooth trace direction that is the main cross-section S in a case in which the flexible external gear 3 is thus formed as a conical gear, in a case in which the tooth depth is made the maximum.
  • FIG. 9 is an explanatory diagram showing the state of meshing of the front end portion 34 b of the tooth trace (the end on the opening side). From this, it can be seen that, while it is an approximation, there is meshing of the tooth profiles at cross-sections other than the main cross-section.
  • FIG. 10 shows an example of the relieving in this case.
  • broken line A is the tooth trace in a case in which it extends over the entire tooth trace in the main cross-section S
  • the solid line B shows the tooth trace obtained by applying relieving to this tooth trace.
  • FIG. 1 is a general front view of a wave gear drive that is an object of the present invention.
  • FIG. 2 is an explanatory diagram showing an axial cross-section that includes the flexing condition of the flexible external gear, with (a) showing the state before deformation, (b) a cross-section that includes the major axis after deformation to an ellipse, and (c) a cross-section that includes the minor axis.
  • FIG. 3 is the movement locus of a rack in a case in which the basis of the tooth profile formation of the present invention is ⁇ 1.
  • FIG. 4 is an explanatory diagram showing, of the movement locus of FIG. 3 , the utilization range for tooth profile formation.
  • FIG. 5 is an explanatory diagram showing examples of the tooth profiles set for the two gears.
  • FIG. 6 is an explanatory diagram showing the movement of one tooth of the flexible external gear with respect to one tooth of the rigid internal gear, in the main cross-section.
  • FIG. 7 are cross-sectional diagrams showing the cross-section prior to deformation and the state of meshing after deformation, in a case in which the flexible external gear is a conical gear.
  • FIG. 8 is an explanatory diagram showing meshing in the main cross-section of the two gears.
  • FIG. 9 is an explanatory diagram showing the state of meshing of the two gears in a cross section perpendicular to the axis of the front end portion of the tooth trace (the end on the opening side).
  • FIG. 10 is an explanatory diagram showing relieving applied to the teeth of the flexible external gear in a case in which the main cross-section passes through the center of the balls of the wave bearing of the wave generator.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)
US11/579,767 2004-06-21 2004-06-21 Wave gear drive having negative deflection meshing tooth profile Active 2026-09-23 US7735396B2 (en)

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PCT/JP2004/008714 WO2005124189A1 (ja) 2004-06-21 2004-06-21 負偏位噛み合い歯形を有する波動歯車装置

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US20090139358A1 (en) * 2007-12-04 2009-06-04 Harmonic Drive Systems Inc. Method For Setting Gear Tooth Profile In Flat Wave Gear Device On Side Where Gears Have Same Number Of teeth
US20100319484A1 (en) * 2009-06-23 2010-12-23 Harmonic Drive Systems Inc. Wave Gear Device
US20110237382A1 (en) * 2008-12-18 2011-09-29 Harmonic Drive Systems Inc. Wave gear device having three-dimensionally contactable shifted tooth profile
US20120285283A1 (en) * 2011-05-09 2012-11-15 Harmonic Drive Systems Inc. Wave gear device having three-dimensional continuous contact tooth profile
US20130079190A1 (en) * 2009-01-13 2013-03-28 Harmonic Drive Systems, Inc. Wave generator for wave gear device
US20130312558A1 (en) * 2012-05-23 2013-11-28 Harmonic Drive Systems, Inc. Wave gear device and flexible externally toothed gear
US20140047937A1 (en) * 2012-08-17 2014-02-20 Harmonic Drive Systems Inc. Wave gear device having three-dimensional-contact tooth profile
US9714699B2 (en) * 2015-01-21 2017-07-25 Hiwin Technologies Corp. Harmonic drive that improves transmission accuracy
US10174825B2 (en) 2014-12-09 2019-01-08 Harmonic Drive Systems Inc. Passing-type-meshing negative-deflection strain wave gearing
US10648550B2 (en) 2016-12-29 2020-05-12 Industrial Technology Research Institute Harmonic driving device
US11035452B2 (en) * 2016-07-30 2021-06-15 Harmonic Drive Systems Inc. Wave generator and strain wave gearing
US11786112B2 (en) 2020-04-30 2023-10-17 Ambu A/S Endoscope control system
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JP4777792B2 (ja) * 2006-02-09 2011-09-21 株式会社ハーモニック・ドライブ・システムズ 連続噛み合い高ラチェティングトルク歯形を有する波動歯車装置
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JP5390028B2 (ja) * 2011-02-04 2014-01-15 株式会社ハーモニック・ドライブ・システムズ ３次元接触のインボリュート正偏位歯形を有する波動歯車装置
JP5734102B2 (ja) 2011-06-01 2015-06-10 株式会社ハーモニック・ドライブ・システムズ テーパ型の可撓性外歯車を備えた波動歯車装置
DE112012005619T5 (de) * 2012-01-10 2014-10-09 Harmonic Drive Systems Inc. Verformungswellgetriebe mit einem Involutenzahnprofil mit positiver Biegung, das die Randdicke berücksichtigt
DE102012109774B9 (de) 2012-10-15 2016-12-22 Ovalo Gmbh Elastisch verformbares Getriebebauteil und Spannungswellengetriebe mit einem solchen Getriebebauteil
CN105102857B (zh) * 2013-11-29 2017-08-01 谐波传动系统有限公司 具有两次接触的负偏位齿形的波动齿轮装置
EP3222878B1 (en) * 2014-11-21 2020-05-27 Harmonic Drive Systems Inc. Wave generator and wave gear device
DE102015104135A1 (de) 2015-03-19 2016-09-22 Harmonic Drive Ag Wellgetriebe mit Trockenlauf
CN104819267B (zh) * 2015-05-13 2017-03-22 广州市昊志机电股份有限公司 一种采用非干涉且大范围啮合齿廓的谐波齿轮装置
EP3321540B1 (en) * 2015-07-07 2020-04-08 Harmonic Drive Systems Inc. Rotation transmission mechanism provided with strain-wave gearing
US10883589B2 (en) 2015-12-04 2021-01-05 Harmonic Drive Systems Inc. Two stress-separation strain wave gearing
WO2017122362A1 (ja) 2016-01-15 2017-07-20 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
JP6830736B2 (ja) 2017-06-05 2021-02-17 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
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US10975947B2 (en) 2018-02-27 2021-04-13 The Boeing Company Optimized harmonic drive
US11732791B2 (en) * 2020-01-08 2023-08-22 Harmonic Drive System Inc. Strain wave gearing
US12209648B2 (en) * 2021-06-01 2025-01-28 Harmonic Drive Systems Inc. Tooth profile designing method for strain wave gearing
CN113586687A (zh) * 2021-07-28 2021-11-02 珠海格力电器股份有限公司 适用于高速工况的柔轮、谐波减速器
CN113446377B (zh) * 2021-08-13 2023-03-10 天津大学 共轭摆线齿廓谐波减速器
DE102022128423B3 (de) 2022-10-27 2023-12-28 Schaeffler Technologies AG & Co. KG Verfahren und ein Antriebsmodul zur Detektion, Quantifikation und Kompensation einer Eingriffsstörung eines Spannungswellengetriebes

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US20070266819A1 (en) 2007-11-22
DE112004002907T5 (de) 2007-05-03
JPWO2005124189A1 (ja) 2008-04-10
WO2005124189A1 (ja) 2005-12-29
JP4650954B2 (ja) 2011-03-16
DE112004002907B4 (de) 2016-02-18

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